Design And Implementation For The Construction Vehicles Network System Based On CANopen Protocol

Presently technology of Field Bus Control is one of the latest technologies in Vehicle Control. Bus Control can provide a data commutation platform for Construction Vehicle, which can predigest the gearing of Construction Vehicle, decrease the wiring harness, and make the control more precise and flexible. In other words, Bus Control technology can bring a revolution for the Construction Vehicle. Since Control Area Network Bus has the characteristics of low cost, fast, real time and high reliability, CAN Bus has become one of the most popular Filed Control Buses in the world. CANopen which is widely used in Construction Vehicles is the application layer protocol of CAN Bus. It is of great importance for the development of Construction Vehicle to research CANopen protocol and develop the equipment to support CANopen protocol.Communication platform of CANopen and CANopen protocol that Construction Vehicles control requires are researched in the thesis. Following these studies, the hardware platform of C8051F040 micro controller is designed and realized. After that a Rotating Drilling Rigs controller which supports CANopen communication is designed. And a real time data recorder based on embedded USB host is realized. The data recorder is a kind of super nodes which can filter data autonomously in CAN, and is able to receive all the data in network and then store the data needed in FLASH chip. The data recorder has USB host and USB host driver; therefore it can restore the data from FLASH to standard U disk without any operating system. Furthermore, a CANopen protocol stack for Construction Vehicles control is designed and implemented. The protocol stack is applied on Rotating Drilling Rigs controller and data recorder. And then the thesis designed communication for online programming based on CMS service of CANopen protocol.Finally a CAN network for CANopen protocol stack is composed. the Rotating Drilling Rigs Control module, Construction Vehicles real time data recorder and some communication node are included in the CAN network. All the modules and communication protocol are tested.